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56 Commits

Author SHA1 Message Date
Kyle Bayes 6957966c7d Terminate early without contact in EPA if upper < lower on first iteration. 
PiperOrigin-RevId: 929828707
Change-Id: Ide1106c14ae6eb003a9bbc238609b4bfdde221b0
 2026-06-10 07:02:00 -07:00
Kyle Bayes 2c5b8cae6c Correct projected origin on face when the magnitude of face->v becomes very small in EPA. 
PiperOrigin-RevId: 929768876
Change-Id: I5daf0203e998aa1489d9ce4c78cbf0764a8963e3
 2026-06-10 04:48:18 -07:00
Kyle Bayes ac7f198536 Tune constants for nativeccd to perform better with single precision. 
PiperOrigin-RevId: 928549147
Change-Id: Ic28c60f73e92bb1b9578c56f790b6cda94875907
 2026-06-08 07:21:17 -07:00
Kyle Bayes 66156c7d9a Update tolerances on engine_collision_gjk_test.cc to run with single precision. 
PiperOrigin-RevId: 926681633
Change-Id: I14f7b756fd3cf7b8f797b5f7b917efba00006b88
 2026-06-04 07:37:15 -07:00
Kyle Bayes 558366f364 Always normalize in planeNormal to reduce rounding errors in single precision. 
PiperOrigin-RevId: 926002329
Change-Id: I682f3b90249e60838c2432231b3181e57c565c28
 2026-06-03 07:04:12 -07:00
Kyle Bayes ad23db5942 Guard againsts NaNs in engine_collision_gjk_test.cc. 
PiperOrigin-RevId: 924844839
Change-Id: I98d5acd8ee97881ebd17f7ba7a40fb378ca1fb2d
 2026-06-01 12:17:42 -07:00
Kyle Bayes 4035c66428 Fix multiccd edge bug that occurs in certain situations. 
PiperOrigin-RevId: 922251109
Change-Id: I74c08ae49d5dfd2a41b2dcd28eb9f2b5ba113216
 2026-05-27 11:32:45 -07:00
Yuval Tassa 2810edd27a Rename mjtnum.h to mjtype.h, move enum types to mjtype.h 
PiperOrigin-RevId: 919020039
Change-Id: I441295c0baa0b7456f78239fbd5478d32ffc07c1
 2026-05-21 06:43:29 -07:00
Yuval Tassa a4e49f2dff Margin and gap redesign (breaking change) 
PiperOrigin-RevId: 914329812
Change-Id: I905665e4c1965bdb8b90587e5b1277cfbfe5cce0
 2026-05-12 09:43:43 -07:00
Kyle Bayes 6cb6e5a93f Enable multiccd by default. 
PiperOrigin-RevId: 902752921
Change-Id: I8e2085ff17db0ac0db1641b8837415c458e5eca4
 2026-04-20 12:00:10 -07:00
Kyle Bayes d9b3faf8f4 Remove thread_local EPA data in favor of using mjData stack. 
PiperOrigin-RevId: 900201369
Change-Id: I82fbe9bf0ef9ea117c2124353d876dd42a57fb3a
 2026-04-15 09:19:57 -07:00
Kyle Bayes 330c36c99b Fix issue in GJK where the tolerance for x_norm was set too low. 
PiperOrigin-RevId: 880735671
Change-Id: I324e37e8677d3c7feeb4b8bcf065a2a0122326b6
 2026-03-09 02:14:52 -07:00
Kyle Bayes cd8bfb90c3 Improve polygon creation logic in compiler. 
PiperOrigin-RevId: 875070301
Change-Id: I06e851f3450035fff68b99997406d6ea471ce3b8
 2026-02-25 03:40:07 -08:00
Kyle Bayes 39f0321a68 Clean up NativeCCD testing models. 
PiperOrigin-RevId: 830733959
Change-Id: Ie7f71c36d2efafd37aecef54ca4897cebd6d091f
 2025-11-10 21:31:02 -08:00
Yuval Tassa f71053243e Replace std::array with C-style array for error buffer in GJK tests. 
PiperOrigin-RevId: 797730796
Change-Id: I228c58e163c8c6d1426a88c1a6f447c4a56a34e6
 2025-08-21 06:03:53 -07:00
Yuval Tassa 5a24eb2d34 Add error reporting to model loading in engine tests, where missing 
PiperOrigin-RevId: 795844607
Change-Id: I4163c53c05796c2e3036af28a98f58c15bb1c99c
 2025-08-16 08:11:49 -07:00
Kyle Bayes f2a2afeb03 Fix address bug in meshEdgeNormals in doing edge multiccd with meshes. 
PiperOrigin-RevId: 790731924
Change-Id: Ia475b1f01731518166f229c25ebffd1fbf7c7939
 2025-08-04 07:03:14 -07:00
Kyle Bayes 56b88b59f0 Support 0-simplex in GJK code, and refactor code for efficiency and readability. 
PiperOrigin-RevId: 764197889
Change-Id: Ie0d57474060a34a6b908be0386094f442cda448a
 2025-05-28 04:19:13 -07:00
Kyle Bayes 9e72874801 Remove EPA tolerance in the discrete case in nativeccd. 
PiperOrigin-RevId: 750649926
Change-Id: I8ab317cd6b227c9486a2916ae9c6445906c23401
 2025-04-23 10:52:14 -07:00
Kyle Bayes b1f8d444f2 Fix bug in replaceSimplex3 in nativeccd. 
PiperOrigin-RevId: 746014344
Change-Id: I93b32ab5f67ee48ab72238de53f7cda07638cb79
 2025-04-10 07:04:27 -07:00
Kyle Bayes 85b323c7fb Remove square roots when possible in EPA improving numerical precision. 
PiperOrigin-RevId: 745559836
Change-Id: I3f8b23406e93ccfc4bc3499bfbed829b35462a74
 2025-04-09 06:18:51 -07:00
Kyle Bayes 58234b2217 Replace mjMAXVAL with numerical max limit where necessary in nativeccd. 
PiperOrigin-RevId: 744693156
Change-Id: I72c3122701be281d468291dfc2ad1e4bb1da5a1c
 2025-04-07 05:59:02 -07:00
Kyle Bayes 08d22baea1 Fix bug in horizon code in nativeccd where parallel faces are included in horizon. 
PiperOrigin-RevId: 742687622
Change-Id: I4a180cb9c7451e0a2c22ffd77b7b6f6fd68836a4
 2025-04-01 07:21:14 -07:00
Kyle Bayes 9ecec6f238 Fix bad contact from passing through polytope2 in nativeccd. 
PiperOrigin-RevId: 742666700
Change-Id: I76034579b4e663f9abfa265ec3e2bc608f631f59
 2025-04-01 06:11:20 -07:00
Kyle Bayes d6943731b2 Fix bug in nativeccd multiccd. 
PiperOrigin-RevId: 740495321
Change-Id: I7eaa0da8514e27c233d49567c276d1d238808d1f
 2025-03-25 14:56:21 -07:00
Kyle Bayes 12b40b948e Remove MuJoCo stack calls in nativeccd. 
1. There is now thread local static memory for use with a conservative max number of iterations needed for contact.
2. For possible needs of high precision contact recovery with large iteration numbers (i.e. ellipsoid-ellipsoid collisions), there are callbacks to allocate memory when needed.

PiperOrigin-RevId: 739187134
Change-Id: I3d210f75218922d969c78465da3fe50da4fe3080
 2025-03-21 08:20:51 -07:00
Kyle Bayes 4d024f9421 Convert internal representation of vertices to double. Also replace remove duplicate vertices with fast hash implementation. 
PiperOrigin-RevId: 734516595
Change-Id: Ic78556688d5f2b75d69cd286b8d060e2cdeb7c48
 2025-03-07 05:17:49 -08:00
Kyle Bayes fbe0990b17 Fix bugs in nativeccd with collisions with margin. 
PiperOrigin-RevId: 730903745
Change-Id: I45ddb674f32cb1f28ff37c587ea953ec595241b3
 2025-02-25 08:51:21 -08:00
Kyle Bayes 024616345d Support edge contacts with multiccd in nativeccd. 
PiperOrigin-RevId: 730489114
Change-Id: I02847d84bbc15a1526391d5e1b7109ab83ea4a59
 2025-02-24 09:48:43 -08:00
Kyle Bayes ae1c3b7ec0 Support multi-contact with meshes in nativeccd. Contacts are pruned to up to 4 per geom. 
PiperOrigin-RevId: 730457036
Change-Id: Ib2368f3a7def4fdb94673620df3603e372c35745
 2025-02-24 08:14:04 -08:00
Kyle Bayes 3235f69afc Make polytope2 and polytope4 more numerically robust in nativeccd. 
PiperOrigin-RevId: 723412555
Change-Id: Id262a3c19bcd30b74b1495591bdc95f951bfca50
 2025-02-05 01:40:41 -08:00
Kyle Bayes aa505a7872 Add support for NativeCCD multiple contacts for box-box collision. 
PiperOrigin-RevId: 718352304
Change-Id: Icaa827e716a2d7aa7c0c644e0ccd2913b476e6fb
 2025-01-22 06:02:58 -08:00
Kyle Bayes daba00ca9d Fix a box-box bad collision in NativeCCD. 
PiperOrigin-RevId: 713683497
Change-Id: I0c4cfd55d00faa196d8759046c87ee4ef74f01ab
 2025-01-09 08:35:50 -08:00
Kyle Bayes 340c0d7c97 Fix a box-box bad collision in NativeCCD. 
PiperOrigin-RevId: 711773153
Change-Id: I8a526ef5933be19d863e67f40edeb95b0b1249cd
 2025-01-03 09:23:57 -08:00
Kyle Bayes ec230fa4b6 Prune face linear map in EPA. 
PiperOrigin-RevId: 705138358
Change-Id: I835ce7094d066b19ee39af48e0b83b51f7a0954e
 2024-12-11 09:44:19 -08:00
Kyle Bayes a364308d5a Use GJK to recover contact points for sphere and capsule geoms in nativeccd. 
PiperOrigin-RevId: 704727907
Change-Id: Iff641b6a32637c48e9892dbaa60826617c54ed06
 2024-12-10 08:53:27 -08:00
Kyle Bayes 867e8b8adb Fix ARM issues with tests with nativeccd. 
Note: frameless_contact_hfield.xml doesn't work with libccd nor nativeccd on ARM as expected.
PiperOrigin-RevId: 698317464
Change-Id: I4c57e04639b9870b416c67d79a16a313c5276cf6
 2024-11-20 02:30:15 -08:00
Kyle Bayes f91588a171 Fallback to polytope3 if tetrahedron from GJK has the origin on a face (most likely due to a numerical issue). 
PiperOrigin-RevId: 696872633
Change-Id: I58edb0fdc30ad472c8f1338df728e8d42c25fc39
 2024-11-15 06:53:00 -08:00
Kyle Bayes 0e8cca93e1 Refactor nativeccd interface. 
- Update mj_ccd interface for multi-contacts,
- Support GJK cutoff distance, and
- Remove mjc_fixNormal from nativeccd (causes bug with cylindar box collisions).

PiperOrigin-RevId: 696185362
Change-Id: I4828b7ee1bde078268220172a4937cd553f6187e
 2024-11-13 10:28:45 -08:00
Kyle Bayes 70d6655434 Add faster support functions for NativeCCD. 
PiperOrigin-RevId: 684809392
Change-Id: I5125d4bb74c167d370aa919befba9d356c7162da
 2024-10-11 05:59:30 -07:00
Kyle Bayes 04f8403d8e Add unit tests for NativeCCD to produce better test coverage. 
PiperOrigin-RevId: 677793306
Change-Id: I435865f00553c74d1d0c0fa86d9c41fb1e5497ff
 2024-09-23 07:55:39 -07:00
Kyle Bayes 7a92423cf2 Add height fields to list of discrete objects in NativeCCD. 
PiperOrigin-RevId: 676452215
Change-Id: I5d6a0d1e26ee852c774b44f550c1d0531b7a269b
 2024-09-19 09:48:41 -07:00
Kyle Bayes bd811a44e7 Remove redundant copying in NativeCCD and refactor code for readability. 
PiperOrigin-RevId: 675573079
Change-Id: If9f7bc21d9ee7806997f05a8985ebe6b1b3c8332
 2024-09-17 08:14:10 -07:00
Kyle Bayes 5144be2baa Add unit tests for NativeCCD. 
PiperOrigin-RevId: 673849092
Change-Id: Ie703c9f461bb483fd3335d1ba589211205c73c8c
 2024-09-12 08:03:18 -07:00
Kyle Bayes 8d165d5cc7 Fix early termination in GJK. It's possible for x_k to be the origin, so we should run the previous test to conclude that the objects are colliding. 
PiperOrigin-RevId: 673834101
Change-Id: I596b30d2847670261f8067840b34dc13de401ecb
 2024-09-12 07:17:53 -07:00
Kyle Bayes 44145742a7 Exit GJK early if geom distance doesn't need to be recovered. 
PiperOrigin-RevId: 672334991
Change-Id: I4af582c799140ccf3ac4d51952e547b08ab5d55e
 2024-09-08 14:57:50 -07:00
Kyle Bayes 4fc6fb179b Remove libccd compatibility layer from native ccd. 
PiperOrigin-RevId: 671740643
Change-Id: If3c1097df5c505f70c2dc0c090a7f5a93a43c683
 2024-09-06 06:56:01 -07:00
Kyle Bayes d360ea1ce6 Minor GJK + EPA improvements: 
1. Correct stopping criteria for GJK.
2. Store witness points from EPA in mjCCDObj,
3. Get dir directly from EPA instead of computing dir from witness points.

PiperOrigin-RevId: 666791852
Change-Id: I6a168f635b57c17692d31da6f6076b48c32ff2e3
 2024-08-23 07:44:30 -07:00
Kyle Bayes f986a52e1e Compute witness points from EPA, and use witness points to determine pos and dir for contact. 
PiperOrigin-RevId: 665791337
Change-Id: If33ca1f455804c4cda534508803f5c3e99c3c52a
 2024-08-21 03:06:17 -07:00
Kyle Bayes 64575f399b Add heightfield collision support for GJK + EPA implementation. 
PiperOrigin-RevId: 663321119
Change-Id: I01a85ae15386c997bff4e9c6d71555a4380dfffe
 2024-08-15 08:50:09 -07:00